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Simple Adaptive Control of Plants not Satisfying Almost Strictly Positive Real Conditions
| Content Provider | Semantic Scholar |
|---|---|
| Author | Mokhtari, Khalil |
| Copyright Year | 2015 |
| Abstract | Simple adaptive control systems were known to be robust against a class of disturbances and globally stable if the controlled plant is ‘almost strictly positive real’, that is, if there exists a positive definite static output feedback (unknown and not needed for implementation) such that the resulting closed-loop transfer function is strictly positive real. The present paper discuss the simple adaptive control scheme for a non-Almost Strictly Positive Real Plants and the use of parallel feedforward which makes the augmented plant satisfy the ‘almost positivity’ conditions. Stability of the proposed method and the obtained adaptive algorithm is investigated. The validity of the adaptive algorithm under the positivity condition is examined through numerical simulation with disturbed environment. Keywords—Simple Adaptive Control; Almost Strictly Positive Real; Parallel Feedforward; |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.icats.ws/proceedings2015/Robotics,%20Control%20and%20Instrumentation/ICATS_2015_submission_118.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
